摘要
Kinematics of a 3 RPS parallel pyramid manipulator are investigated by principal screw. Firstly, the principal screws are identified by quadric degeneration. The planar conics representing the relations between the pitches and the three linear inputs are described, and the three dimensional distribution of the axes of all the twists is illustrated. Finally, a numerical example is given successfully.
Kinematics of a 3 RPS parallel pyramid manipulator are investigated by principal screw. Firstly, the principal screws are identified by quadric degeneration. The planar conics representing the relations between the pitches and the three linear inputs are described, and the three dimensional distribution of the axes of all the twists is illustrated. Finally, a numerical example is given successfully.
基金
National 86 3plan(No .86 3 5 12 80 5 980 5 0 1)
